diff --git a/ftc2024-autonome.java b/ftc2024-autonome.java
index 9366d1a..b61d737 100644
--- a/ftc2024-autonome.java
+++ b/ftc2024-autonome.java
@@ -1,47 +1,36 @@
 package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.hardware.AnalogInput;
-import com.qualcomm.robotcore.hardware.Gyroscope;
-import com.qualcomm.robotcore.hardware.ColorSensor;
-import com.qualcomm.robotcore.hardware.Servo;
-import com.qualcomm.robotcore.hardware.DigitalChannel;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.util.ElapsedTime;
 
 import com.qualcomm.robotcore.hardware.IMU;
 import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
 import com.qualcomm.robotcore.hardware.ImuOrientationOnRobot;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+
+import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
 import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
 import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
-import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
-import org.firstinspires.ftc.robotcore.external.navigation.Position;
-import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
 
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.util.ElapsedTime;
 
 @Autonomous
 
-public class ftc2024_autonome extends LinearOpMode {
+public class ftc2024_autonome_test extends LinearOpMode {
     private DcMotor rm;
     private DcMotor lm;
     private IMU imu;
-    private ElapsedTime     runtime = new ElapsedTime();
-    
-
-    public double time_for_dist(double speed, double dist){
-        return (double) (dist/speed);
-    }
 
     @Override
+
     public void runOpMode() {
-        lm = hardwareMap.get(DcMotor.class, "blm");
-        rm = hardwareMap.get(DcMotor.class, "brm");
+        lm = hardwareMap.get (DcMotor.class, "blm");
+        rm = hardwareMap.get (DcMotor.class, "brm");
+
+        rm.setDirection(DcMotor.Direction.REVERSE);
         
         imu = hardwareMap.get(IMU.class, "imu");
         imu.initialize(
@@ -53,132 +42,99 @@ public class ftc2024_autonome extends LinearOpMode {
             )
             );
         imu.resetYaw();
-
-        rm.setDirection(DcMotorSimple.Direction.REVERSE);
-        telemetry.addData("Status", "Initialized");
-        telemetry.update();
-        double tour_par_minute = 300.0;
-        double wheel_width = 9.0e-2;
-        double wheel_rayon = (wheel_width)/2;
-        double wheel_perimeter = wheel_rayon*2*Math.PI;
-        double speed = (tour_par_minute/60)*wheel_perimeter;//dist per second
-        boolean mode = true;
-        
         YawPitchRollAngles robotOrientation;
         robotOrientation = imu.getRobotYawPitchRollAngles();
-        
         double Yaw   = robotOrientation.getYaw(AngleUnit.DEGREES);
-        double Pitch = robotOrientation.getPitch(AngleUnit.DEGREES);
-        double Roll  = robotOrientation.getRoll(AngleUnit.DEGREES);
+        double yaw_sortie = 0.0;
 
-        double yaw_sortie;
-        
-        // Wait for the game to start (driver presses PLAY)
         waitForStart();
 
-        runtime.reset();
-        if (mode){
-            //mode Elina
-            /*while (opModeIsActive() && Yaw <= -90.0) {
-                lm.setPower(0.2);
-                rm.setPower(-0.2);
-                robotOrientation = imu.getRobotYawPitchRollAngles();
-                Yaw   = robotOrientation.getYaw(AngleUnit.DEGREES);
-                telemetry.addData("Yaw : ", Yaw);
-                telemetry.update();
-                
-            }*/
-            while (opModeIsActive() && Yaw < 90) {
-                lm.setPower(0.2);
-                rm.setPower(-0.2);
-                robotOrientation = imu.getRobotYawPitchRollAngles();
-                Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
-                telemetry.addData("Leg 1", runtime.seconds());
-                telemetry.addData("Yaw", Yaw);
-                telemetry.update();
-            }
-            runtime.reset();
-            yaw_sortie = Yaw;
-            
-            telemetry.update();
-            
-            while (opModeIsActive()) {
-                lm.setPower(0.1);
-                rm.setPower(0.1);
-                robotOrientation = imu.getRobotYawPitchRollAngles();
-                Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
-                telemetry.addData("yaw_sortie", yaw_sortie);
-                telemetry.addData("Yaw", Yaw);
-                telemetry.update();
-                
-            }
-            /*while (opModeIsActive() && (runtime.seconds() <= 121.92e-2/speed)) {
-                lm.setPower(0.1);
-                rm.setPower(0.1);
-                telemetry.addData("Leg 2", runtime.seconds());
-                telemetry.update();
-            }*/
-        }
-        else{
-        while(opModeIsActive()){
-        Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
-            if(Math.abs(Yaw-90.0)<=0.01){
-                break;
-            }
-            else if((Yaw - 90.0) <0){
-                lm.setPower((Math.abs(Yaw-90.0)/90)*0.5);
-                rm.setPower(-(Math.abs(Yaw-90.0)/90)*0.5);
-            }
-            else{
-                rm.setPower((Math.abs(Yaw-90.0)/90)*0.5);
-                lm.setPower(-(Math.abs(Yaw-90.0)/90)*0.5);
-            }
-
-            if(false){
-                double[][] operations = {
-                    {-1.0,1.0}, // vectors
-                    {1.0,1.0},
-                    {-1.0,1.0},
-                    {-1.0,-1.0},
-                    {1.0,-1.0}
-                };
-                //mode Aurelien
-                for(int i = 0; i<operations.length; i++){
-                    double[] vec = operations[i];
-                    double x = vec[0];
-                    double y = vec[1];
-                    double total_dist = (double) Math.sqrt(Math.pow(y,2)+Math.pow(x,2));
-                    double time = time_for_dist(speed, total_dist);
-                    double a = (-y+x)/Math.pow(2,1/2);
-                    double b = (-y-x)/Math.pow(2,1/2);
-                    double vmean = (Math.abs(a)+Math.abs(b))/2;
-                    double lmvalue = (a/vmean);
-                    double rmvalue = (b/vmean);
-                    runtime.reset();
-                    while (opModeIsActive() && (runtime.seconds() <= time)) {
-                        lm.setPower(lmvalue);
-                        rm.setPower(rmvalue);
-                        telemetry.addData("Runtime Seconds", runtime.seconds());
-                        telemetry.addData("current_operation",operations[i]);
-                        telemetry.addData("current_op_id",i);
-
-                    
-                        telemetry.update();
-                    }
+        while (opModeIsActive()){
+            double [] lm_p = {0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1};
+            double [] rm_p = {-0.1,-0.2,-0.3,-0.4,-0.5,-0.6,-0.7,-0.8,-0.9,-1};
+            double [] x = new double[lm_p.length];
+            for(int i = 0; i< lm_p.length; i++){
+                while (opModeIsActive() && Yaw < 90){
+                    lm.setPower(lm_p[i]);
+                    rm.setPower(rm_p[i]);
+                    robotOrientation = imu.getRobotYawPitchRollAngles();
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    telemetry.addData("Yaw : ", Yaw);
+                    telemetry.update();
+                    yaw_sortie = Yaw;
                 }
+                telemetry.addData("Yaw sortie", yaw_sortie);
+                telemetry.update();
+                Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                x [i]= Yaw - yaw_sortie;
+                              
+                
+                
+                /*if (i = 0) {
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    a = yaw_sortie;
+                    a1 = Yaw;
+                }
+                if (i = 1){
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    b = yaw_sortie;
+                    b1 = Yaw;
+                }
+                if (i = 2){
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    double c = yaw_sortie;
+                    double c1 = Yaw;
+                }
+                if (i = 3){
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    double d = yaw_sortie;
+                    double d1 = Yaw;
+                }
+                if (i = 4){
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    double e = yaw_sortie;
+                    double e1 = Yaw;
+                }
+                if (i = 5){
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    double f = yaw_sortie;
+                    double f1 = Yaw;
+                }
+                if (i = 6){
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    double g = yaw_sortie;
+                    double g1 = Yaw;
+                }
+                if (i = 7){
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    double h = yaw_sortie;
+                    double h1 = Yaw;
+                }
+                if (i = 8){
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    double j = yaw_sortie;
+                    double j1 = Yaw;
+                }
+                if (i = 9){
+                    Yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
+                    k = yaw_sortie;
+                    k1 = Yaw;
+                }
+                */
+                imu.resetYaw();
             }
+            
+
+            telemetry.addData("0.1", x[0]);
+            telemetry.addData("0.2", x[1]);
+            telemetry.addData("0.3", x[2]);
+            telemetry.addData("0.4", x[3]);
+            telemetry.addData("0.5", x[4]);
+            telemetry.addData("0.6", x[5]);
+            telemetry.addData("0.7", x[6]);
+            telemetry.addData("0.8", x[7]);
+            telemetry.addData("0.9", x[8]);
+            telemetry.addData("1", x[9]);
         }
-
-        // Now use these simple methods to extract each angle
-        // (Java type double) from the object you just created:
-        
-        telemetry.addData("yaw",Yaw);
-
-        telemetry.update();
-        // run until the end of the match (driver presses STOP
     }
-
-}
-
-}
-
+}
\ No newline at end of file